Disturbance compensation based on data memory for macro-micro bilateral control

In macro-micro bilateral control system, position and force of master system is scaled down, and those of slave system are enlarged. The disturbance to slave motor is also enlarged. Therefore, in the macro-micro bilateral control with high scaling rate, the disturbance of slave motor worsens the performance of macro-micro bilateral control. The disturbance due to friction and error of nominal mass is considered, in this paper. It has characteristic of nonlinear. The compensation methods depend on velocity and acceleration is proposed in this paper. It consists of disturbance saving system and disturbance loading system. In the disturbance saving system, disturbance data memory is made. In the disturbance loading system, disturbance is compensated according to velocity and acceleration. The proposed system improves the performance of macro-micro bilateral control. The availability of proposed model is confirmed by experiment.